Method and device for feedback control of neural stimulation

Abstract

A method of controlling a neural stimulus by use of feedback. The neural stimulus is applied to a neural pathway in order to give rise to an evoked action potential on the neural pathway. The stimulus is defined by at least one stimulus parameter. A neural compound action potential response evoked by the stimulus is measured. From the measured evoked response a feedback variable is derived. A feedback loop is completed by using the feedback variable to control the at least one stimulus parameter value. The feedback loop adaptively compensates for changes in a gain of the feedback loop caused by electrode movement relative to the neural pathway.

1 . A neurostimulation system comprising:
 an implantable device for suppressing pain by applying neural stimulation, the implantable device comprising:
 a stimulus source configured to provide stimuli to be delivered to a tissue in the dorsal column of a patient, each stimulus defined by a stimulus intensity parameter; 
 measurement circuitry for measuring a neural response evoked in response to the stimulus; and 
 a control unit configured to:
 control the stimulus source to provide a stimulus in accordance with the stimulus intensity parameter; 
 measure via the measurement circuitry a neural response evoked by the stimulus; 
 determine from the measured evoked neural response a feedback variable; and 
 complete a feedback control loop by applying an adjustment to the stimulus intensity parameter based on the feedback variable, and 
 
   a processor configured to set a speed of the feedback control loop based on a characteristic of the measured evoked neural response.   
     
     
         2 . The neurostimulation system of  claim 1 , wherein the control unit is configured to complete the feedback control loop by determining a proportional adjustment to the stimulus intensity parameter, wherein the proportional adjustment is determined by multiplying an error between the feedback variable and a target intensity by a gain. 
     
     
         3 . The neurostimulation system of  claim 2 , wherein the processor is configured to set the speed of the feedback control loop by setting a value of the gain. 
     
     
         4 . The neurostimulation system of  claim 3 , wherein the processor is configured to set the value of the gain by:
 comparing each of a plurality of measured neural responses to a corresponding stimulus intensity parameter to determine the characteristic of a neural response growth curve, wherein the neural response growth curve is a relation of a neural response intensity to the stimulus intensity parameter; and   setting the gain based on the determined characteristic of the neural response growth curve.   
     
     
         5 . The neurostimulation system of  claim 4 , wherein the characteristic is a slope of the neural response growth curve. 
     
     
         6 . The neurostimulation system of  claim 5 , wherein the processor is configured to set the gain such that the feedback control loop has a predetermined corner frequency. 
     
     
         7 . The neurostimulation system of  claim 6 , wherein the processor is configured to set the gain to be the predetermined corner frequency divided by the slope. 
     
     
         8 . The neurostimulation system of  claim 6 , wherein the predetermined corner frequency is between a heartbeat frequency and a sample rate of the feedback control loop. 
     
     
         9 . The neurostimulation system of  claim 1 , wherein the processor is part of an external computing device in communication with the implantable device. 
     
     
         10 . The neurostimulation system of  claim 9 , wherein the setting a value forms part of a fitting procedure carried out by the external computing device for the implantable device. 
     
     
         11 . The neurostimulation system of  claim 1 , wherein the processor is configured to set the speed when the patient is in a most sensitive posture. 
     
     
         12 . A method of suppressing pain by applying neural stimulation, the method comprising:
 delivering stimuli to a tissue in the dorsal column of a patient, each stimulus defined by a stimulus intensity parameter;   measuring a neural response evoked by the stimulus;   determining from the measured evoked neural response a feedback variable;   completing a feedback control loop by applying an adjustment to the stimulus intensity parameter, based on the feedback variable; and   setting a speed of the feedback control loop based on a characteristic of the measured evoked neural response.   
     
     
         13 . The method of  claim 12 , wherein completing the feedback control loop comprises determining a proportional adjustment to the stimulus intensity parameter by multiplying an error between the feedback variable and a target intensity by a gain. 
     
     
         14 . The method of  claim 13 , wherein setting the speed of the feedback control loop comprises setting a value of the gain. 
     
     
         15 . The method of  claim 14 , wherein setting the value of the gain comprises:
 comparing each of a plurality of measured neural responses to a corresponding stimulus intensity parameter to determine the characteristic of a neural response growth curve, wherein the neural response growth curve is a relation of a neural response intensity to the stimulus intensity parameter; and   setting the gain based on the determined characteristic of the neural response growth curve.   
     
     
         16 . The method of  claim 15 , wherein the characteristic is a slope of the neural response growth curve. 
     
     
         17 . The method of  claim 16 , wherein setting the value of the gain comprises setting the gain such that the feedback control loop has a predetermined corner frequency. 
     
     
         18 . The method of  claim 17 , wherein setting the value of the gain comprises setting the value of the gain to be the predetermined corner frequency divided by the slope. 
     
     
         19 . The method of  claim 17 , wherein the predetermined corner frequency is between a heartbeat frequency and a sample rate of the feedback control loop. 
     
     
         20 . The method of  claim 12 , wherein the speed is set when the patient is in a most sensitive posture.